/*
 * This file is part of Kintinuous.
 *
 * Copyright (C) 2015 The National University of Ireland Maynooth and 
 * Massachusetts Institute of Technology
 *
 * The use of the code within this file and all code within files that 
 * make up the software that is Kintinuous is permitted for 
 * non-commercial purposes only.  The full terms and conditions that 
 * apply to the code within this file are detailed within the LICENSE.txt 
 * file and at <http://www.cs.nuim.ie/research/vision/data/kintinuous/code.php> 
 * unless explicitly stated.  By downloading this file you agree to 
 * comply with these terms.
 *
 * If you wish to use any of this code for commercial purposes then 
 * please email commercialisation@nuim.ie.
 *
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 */

#ifndef TSDF_VOLUME_H_
#define TSDF_VOLUME_H_

#include "cuda/containers/device_array.hpp"
#include "cuda/internal.h"
#include <Eigen/Core>
#include <vector>
#include <vector_types.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

/** \brief TsdfVolume class
  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
class TsdfVolume
{
public:
  /** \brief Default buffer size for fetching cloud. It limits max number of points that can be extracted */
  enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };

  /** \brief Constructor
    * \param[in] resolution volume resolution
    */
  TsdfVolume(const Eigen::Vector3i& resolution);

  /** \brief Sets Tsdf volume size for each dimention
    * \param[in] size size of tsdf volume in meters
    */
  void
  setSize(const Eigen::Vector3f& size);

  /** \brief Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size
    * \param[in] distance TSDF truncation distance
    */
  void
  setTsdfTruncDist (float distance);

  /** \brief Returns tsdf volume container that point to data in GPU memroy */
  DeviceArray2D<short>
  data() const;

  /** \brief Returns volume size in meters */
  const Eigen::Vector3f&
  getSize() const;

  /** \brief Returns volume resolution */
  const Eigen::Vector3i&
  getResolution() const;

  /** \brief Returns volume voxel size in meters */
  const Eigen::Vector3f
  getVoxelSize() const;

  /** \brief Returns tsdf truncation distance in meters */
  float
  getTsdfTruncDist () const;

  /** \brief Resets tsdf volume data to uninitialized state */
  void
  reset();

  /** \brief Generates cloud using GPU in connected6 mode only
    * \param[out] cloud_buffer buffer to store point cloud
    * \return DeviceArray with disabled reference counting that points to filled part of cloud_buffer.
    */
  DeviceArray<pcl::PointXYZRGB> fetchCloud(DeviceArray<pcl::PointXYZRGB>& cloud_buffer,
                                      int3 & voxelWrap,
                                      PtrStep<uchar4> color_volume,
                                      int minX,
                                      int maxX,
                                      int minY,
                                      int maxY,
                                      int minZ,
                                      int maxZ,
                                      int3 realVoxelWrap,
                                      int subsample = 1) const;

  /** \brief Downloads tsdf volume from GPU memory.
    * \param[out] tsdf Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x];
    */
  void
  downloadTsdf (std::vector<float>& tsdf) const;

  /** \brief Downloads TSDF volume and according voxel weights from GPU memory
    * \param[out] tsdf Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x];
    * \param[out] weights Array with tsdf voxel weights. Same size and access index as for tsdf. A weight of 0 indicates the voxel was never used.
    */
  void
  downloadTsdfAndWeighs(std::vector<float>& tsdf, std::vector<short>& weights) const;

  void saveTsdfToDisk(std::string filename) const;

private:
  /** \brief tsdf volume size in meters */
  Eigen::Vector3f size_;

  /** \brief tsdf volume resolution */
  Eigen::Vector3i resolution_;

  /** \brief tsdf volume data container */
  DeviceArray2D<short> volume_;

  /** \brief tsdf truncation distance */
  float tranc_dist_;
};

#endif /* TSDF_VOLUME_H_ */
